Position Control Of X-Y Precision Planar Motion Platform Based On Input Shaping

The input shaping algorithm is a feedforward control algorithm that acts on the input end of the control system.Due to its simple composition and no influence on system performance,the input shaping algorithm is widely used in the field of high-precision positioning systems.Genetic algorithm is an optimization algorithm developed on the basis of biological evolution and biological genetics.Because of its simple principle,small calculation amount and strong applicability,it can be applied to many parameter optimization and data mining.In this thesis,genetic algorithm and ZV input shaping algorithm are combined to suppress the oscillation of X-Y precision plane motion table.Firstly,the working principle of the X-Y precision motion control platform and the vector control principle of the permanent magnet synchronous motor are introduced.Simulink in Matlab is used to build the position control model of the permanent magnet synchronous DC motor in the platform,and the PI parameters are adjusted.The single-axis and dual-axis position tracking comparison experiments are carried out respectively,and the performance indicators such as the tracking error overshoot and the adjustment time of the system are measured,and the experimental results are analyzed.Then,by collecting the input and output data points of the system,use the System identification toolbox in Matlab to identify the transfer function of the simulation system.Secondly,the principle of input shaping algorithm and the classification of input shaper are introduced.According to the motor model,the parameters of the two input shapers are calculated,and the zero-oscillation input shaper(ZV)and the zero-oscillation differential input shaper(ZVD)are respectively built in the motor three-loop control system.The single-axis and dualaxis position tracking control comparison experiments are carried out for the loop control system respectively.According to the experimental results,the performance of the two input shapers is analyzed,and the ZV input shaper is selected as the open-loop oscillation suppression device of the control model based on the practical needs.Aiming at the problem that the input shaper is too dependent on the system,a method of optimizing the parameters of the input shaper based on genetic algorithm is designed,the flow of the genetic algorithm is introduced,the Matlab program of the genetic algorithm optimizer is written,and it is combined with control model in Simulink.The control model is connected.The experimental results show that when the system model is relatively fuzzy,the genetic optimization of the parameters of the input shaper has a better effect,which proves the feasibility of the genetic algorithm in optimizing the input shaper.Finally,the experiment of the X-Y precision plane motion table is carried out.First,the transfer function of the X-Y platform is identified,and the ZV input shaper is built according to the identification result,and then the genetic algorithm optimizer is added to carry out the comparison test of single-axis and double-axis position control,and the input shaper is verified.The oscillator has the effect of suppressing oscillation in the X-Y precision plane motion stage,which proves the feasibility of the input shaper optimization method based on the genetic algorithm on the X-Y precision plane motion table.